version: 66.11
glider: 178
mission: 14
dive: 111
start: 7 9 112 3 17 33
data:
$ID,178
$MISSION,14
$DIVE,111
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14469.307
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2640
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.288708
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,080712,211900,4648.909,-12511.218,901,99.0,901,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-76.4
$GPS2,090712,031724,4649.845,-12513.439,114,1.7,114,18.4
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,HOLDING
$TGT_LATLONG,4649.500,-12513.080
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.125,-0.168
$KALMAN_X,15525.4,-319.5,282.4,-75395.2,-979.9
$KALMAN_Y,6878.8,-1189.9,-880.1,58416.4,4359.2
$MHEAD_RNG_PITCHd_Wd,81.1,784,-25.8,-7.857
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.92,-50.7,0.0,0.0,0,57,0.00,0.00,-42.45,0.000,2,0.000,0.000,138,2491,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.92,-50.7,4.0,-12.7,7,84,10.68,2.28,-9.23,0.000,4,0.266,0.049,2333,1094,2947,0,0,0,0,0,0,24.55,25.46,25.71
$GC,132,-0.92,-50.7,19.6,-17.4,21,141,0.00,2.30,0.00,0.000,6,0.000,0.041,2325,2496,2950,0,0,0,0,0,0,28.83,25.46,28.83
$GC,440,-0.91,-50.7,69.5,-17.8,82,446,0.00,2.12,0.00,0.000,4,0.000,0.054,2315,3771,2952,0,0,0,0,0,0,28.83,25.51,28.83
$GC,555,-0.89,-50.7,88.7,-15.2,105,564,0.12,2.00,0.00,0.000,6,0.169,0.031,2349,2491,2953,0,0,0,0,0,0,25.22,25.79,28.83
$GC,863,-0.94,-50.7,121.6,-9.2,166,869,0.00,2.12,0.00,0.000,4,0.000,0.054,2341,3769,2954,0,0,0,0,0,0,28.83,25.55,28.83
$GC,888,-0.97,-50.7,124.0,-9.5,171,895,0.00,1.98,0.00,0.000,6,0.000,0.031,2341,2500,2954,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1194,-1.02,-50.7,156.2,-10.6,232,1201,0.00,2.12,0.00,0.000,4,0.000,0.062,2332,3769,2954,0,0,0,0,0,0,28.83,24.65,28.83
$GC,1241,-1.04,-50.7,161.3,-11.0,241,1249,0.00,1.98,0.00,0.000,6,0.000,0.032,2332,2500,2954,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1548,-1.08,-50.7,195.0,-12.0,302,1555,0.12,2.22,0.00,0.000,4,0.093,0.037,2277,1110,2953,0,0,0,0,0,0,25.75,25.50,28.83
$GC,1584,-1.08,-50.7,199.9,-13.6,309,1592,0.00,2.25,0.00,0.000,6,0.000,0.039,2270,2501,2953,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1889,-1.06,-50.7,245.3,-15.0,340,1893,0.00,2.10,0.00,0.000,4,0.000,0.054,2260,3773,2952,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1979,-1.02,-50.7,259.7,-16.4,349,1983,0.17,1.98,0.00,0.000,6,0.183,0.031,2306,2507,2952,0,0,0,0,0,0,25.08,25.81,28.83
$GC,2289,-1.04,-50.7,299.2,-12.2,380,2293,0.00,2.10,0.00,0.000,4,0.000,0.054,2299,3767,2951,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2369,-1.04,-50.7,309.5,-12.8,388,2373,0.00,1.98,0.00,0.000,6,0.000,0.032,2298,2504,2951,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2679,-1.06,-50.7,347.2,-11.5,419,2683,0.00,2.12,0.00,0.000,4,0.000,0.057,2289,3772,2950,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2703,-1.06,-50.7,349.7,-11.9,421,2712,0.00,2.00,0.00,0.000,6,0.000,0.031,2289,2489,2952,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3009,-1.06,-50.7,387.2,-12.1,452,3013,0.00,2.12,0.00,0.000,4,0.000,0.056,2280,3764,2948,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3079,-1.06,-50.7,396.4,-13.2,459,3083,0.00,1.98,0.00,0.000,6,0.000,0.032,2280,2500,2948,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3389,-1.06,-50.7,433.7,-11.9,490,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2500,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3689,-1.06,-50.7,468.5,-11.2,520,3693,0.00,2.10,0.00,0.000,4,0.000,0.057,2270,3771,2946,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3744,-1.04,-50.7,474.3,-12.2,525,3752,0.10,2.00,0.00,0.000,6,0.187,0.032,2295,2501,2946,0,0,0,0,0,0,25.22,25.77,28.83
$GC,4049,-1.07,-50.7,506.9,-11.1,556,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2500,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,-1.09,-50.7,539.7,-11.6,586,4353,0.00,2.10,0.00,0.000,4,0.000,0.057,2288,3771,2944,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4419,-1.09,-50.7,548.7,-12.9,593,4423,0.00,2.00,0.00,0.000,6,0.000,0.033,2288,2497,2943,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4729,-1.11,-50.7,584.8,-11.3,624,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2497,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5039,-1.13,-50.7,621.3,-11.7,646,5043,0.00,2.22,0.00,0.000,4,0.000,0.038,2288,1110,2943,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5064,-1.15,-50.7,623.7,-11.8,647,5068,0.00,2.28,0.00,0.000,6,0.000,0.042,2278,2500,2942,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5379,-1.15,-50.7,661.9,-11.9,663,5383,0.00,2.12,0.00,0.000,4,0.000,0.057,2274,3773,2941,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5488,-1.15,-50.7,675.0,-12.9,668,5493,0.00,2.00,0.00,0.000,6,0.000,0.034,2268,2505,2941,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5799,-1.15,-50.7,713.1,-12.1,684,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2504,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6099,-1.15,-50.7,749.3,-11.8,699,6103,0.00,2.12,0.00,0.000,4,0.000,0.058,2258,3762,2940,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6163,-1.15,-50.7,757.1,-12.8,702,6168,0.00,2.00,0.00,0.000,6,0.000,0.034,2259,2498,2939,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6479,-1.15,-50.7,796.4,-11.8,718,6483,0.00,2.15,0.00,0.000,4,0.000,0.058,2249,3774,2939,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6559,-1.12,-50.7,806.7,-12.9,722,6563,0.00,2.03,0.00,0.000,6,0.000,0.034,2249,2492,2938,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6879,-1.12,-50.7,843.8,-11.4,738,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2492,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7179,-1.12,-50.7,877.5,-10.4,753,7183,0.00,2.22,0.00,0.000,4,0.000,0.038,2249,1103,2935,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7219,-1.12,-50.7,882.0,-10.9,755,7223,0.12,2.30,0.00,0.000,6,0.181,0.044,2271,2497,2937,0,0,0,0,0,0,24.96,25.48,28.83
$GC,7540,-1.14,-50.7,911.5,-8.6,771,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2497,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,-1.16,-50.7,938.4,-9.1,786,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2496,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8139,-1.18,-50.7,964.9,-8.8,801,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2496,2936,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8438,begin apogee
$GC,8441,-0.17,0.0,991.4,-8.9,816,8492,1.10,0.00,46.25,1.263,6,0.164,0.000,2576,2206,2737,0,0,0,0,0,0,24.60,28.83,23.18
$STATE,8493,end apogee,CONTROL_FINISHED_OK
$STATE,8493,begin climb
$GC,8494,0.92,50.7,992.2,0.0,818,8554,1.05,2.45,51.72,1.239,4,0.067,0.042,2950,802,2530,0,0,0,0,0,0,24.79,24.25,22.75
$GC,8674,0.91,71.5,984.9,5.7,827,8701,0.00,2.35,21.45,1.190,6,0.000,0.038,2950,2208,2445,0,0,0,0,0,0,28.83,25.04,23.12
$GC,9000,0.89,71.5,954.5,9.4,844,9003,0.00,2.33,0.00,0.000,4,0.000,0.054,2948,3613,2438,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9029,0.85,71.5,953.2,9.3,845,9037,0.15,2.28,0.00,0.000,6,0.191,0.038,2923,2183,2438,0,0,0,0,0,0,24.97,25.51,28.83
$GC,9334,0.86,81.4,929.0,6.8,861,9345,0.00,0.00,9.82,1.070,6,0.000,0.000,2923,2183,2406,0,0,0,0,0,0,28.83,28.83,23.73
$GC,9634,0.86,81.4,903.2,8.9,876,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2183,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,0.86,81.4,877.3,8.5,891,9938,0.00,2.22,0.00,0.000,4,0.000,0.043,2930,814,2401,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10049,0.86,81.4,869.3,8.1,896,10056,0.00,2.25,0.00,0.000,6,0.000,0.039,2930,2199,2400,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10354,0.87,89.1,845.6,7.1,912,10367,0.00,2.30,8.25,1.007,4,0.000,0.043,2941,809,2373,0,0,0,0,0,0,28.83,25.62,23.80
$GC,10443,0.87,90.2,839.5,7.8,916,10448,0.00,2.28,0.00,0.000,6,0.000,0.037,2941,2205,2370,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10754,0.87,90.2,812.5,8.8,932,10758,0.00,2.28,0.00,0.000,4,0.000,0.042,2951,811,2371,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10959,0.87,90.2,795.6,8.7,942,10963,0.08,2.25,0.00,0.000,6,0.190,0.038,2932,2199,2370,0,0,0,0,0,0,25.24,25.60,28.83
$GC,11274,0.87,90.2,767.3,8.3,958,11278,0.00,2.25,0.00,0.000,4,0.000,0.042,2940,814,2370,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11294,0.87,90.2,765.7,8.5,959,11298,0.00,2.25,0.00,0.000,6,0.000,0.037,2940,2201,2369,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11614,0.87,90.2,738.9,8.2,975,11618,0.00,2.28,0.00,0.000,4,0.000,0.042,2951,810,2369,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11749,0.87,90.2,728.7,8.6,981,11757,0.10,2.28,0.00,0.000,6,0.179,0.037,2925,2208,2368,0,0,0,0,0,0,25.17,25.60,28.83
$GC,12054,0.88,91.1,703.9,7.8,997,12058,0.00,2.33,0.00,0.000,4,0.000,0.054,2925,3603,2372,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12089,0.88,91.1,702.1,8.0,998,12096,0.00,2.22,0.00,0.000,6,0.000,0.033,2934,2196,2368,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12394,0.88,91.6,676.7,7.8,1014,12398,0.00,2.25,0.00,0.000,4,0.000,0.042,2944,808,2368,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12469,0.88,93.5,672.1,7.7,1017,12478,0.00,2.28,4.75,0.765,6,0.000,0.039,2944,2204,2356,0,0,0,0,0,0,28.83,25.54,23.80
$GC,12774,0.88,93.5,646.9,8.1,1033,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2204,2356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13074,0.88,96.9,624.1,7.5,1048,13083,0.00,2.28,5.38,0.795,4,0.000,0.043,2954,801,2341,0,0,0,0,0,0,28.83,25.65,23.83
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$STATE,21276,end climb,SURFACE_DEPTH_REACHED
$STATE,21276,begin surface coast
$FINISH,-0.6,1.018424
$STATE,21331,end surface coast,CONTROL_FINISHED_OK
$STATE,21331,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,41.69
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.60
$XPDR_PINGS,181
$24V_AH,22.8,40.157
$10V_AH,9.8,33.591
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.575,173.300,423.125,0.000,0.000,23.856,48.918,221.537,45.250,0.000,116.722,0.000,16143.417,629.593,4913.905,197.321,0.000,2403.870,0.000,3567.565,0.000,0.529,0.000
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$MEM,297412
$DATA_FILE_SIZE,89806,2145
$CAP_FILE_SIZE,225087,0
$CFSIZE,260165632,245596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,222.0,1
$GPS,090712,091624,4649.100,-12511.159,110,1.5,110,18.4